EP0241556B1 - Vorrichtung zur begrenzung des tätigkeitsbereichs eines industriellen roboters - Google Patents

Vorrichtung zur begrenzung des tätigkeitsbereichs eines industriellen roboters Download PDF

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Publication number
EP0241556B1
EP0241556B1 EP86904404A EP86904404A EP0241556B1 EP 0241556 B1 EP0241556 B1 EP 0241556B1 EP 86904404 A EP86904404 A EP 86904404A EP 86904404 A EP86904404 A EP 86904404A EP 0241556 B1 EP0241556 B1 EP 0241556B1
Authority
EP
European Patent Office
Prior art keywords
range
stopper
industrial robot
robot
limiting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP86904404A
Other languages
English (en)
French (fr)
Other versions
EP0241556A4 (de
EP0241556A1 (de
Inventor
Nobutoshi Torii
Ryo Nihei
Hitoshi Mizuno
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP0241556A1 publication Critical patent/EP0241556A1/de
Publication of EP0241556A4 publication Critical patent/EP0241556A4/de
Application granted granted Critical
Publication of EP0241556B1 publication Critical patent/EP0241556B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20576—Elements
    • Y10T74/20582—Levers
    • Y10T74/2063—Stops

Definitions

  • This invention relates to an industrial robot and, more particularly, to an industrial robot motion range limiting apparatus for limiting the angle of rotation of such a robot.
  • An industrial robot comprises a pedestal fixed to a floor or movable along a floor, a ⁇ axis rotatably provided on the pedestal, a W axis swingably attached to the ⁇ axis, a U axis swingably provided on the end of the W axis, and a wrist provided on the end of the U axis.
  • a swiveling portion of each axis is provided with an overtravel limit switch and stopper mechanism.
  • a projecting member provided on one shaft support portion actuates an overtravel detection limit switch provided on another rotary shaft support portion, whereby a warning is issued to the effect that the rotary shaft has rotated in excess of a predetermined angle of rotation.
  • an interference member provided on a rotary portion abuts against a stopper provided on the other shaft support portion to prevent any further rotation.
  • the stopper mechanisms are mounted at positions which depend upon the manner in which the robot is used and the rotational angles of the robot.
  • the projecting members for detecting overtravel also are mounted at positions which depend upon the rotational angles of the robot.
  • the positions at which these stopper mechanisms and projecting members are mounted do not have marks for indicating the mounting position and considerable labor is required to set the positions.
  • the present invention has been devised to improve upon the foregoing drawbacks of the prior art and the object thereof is to provide an industrial robot motion range limiting apparatus in which the mounting position of a mechanism, including a stopper mechanism, provided at a rotating shaft support portion of the industrial robot for limiting the range of rotation of the robot can be changed in a simple manner, and in which the mounting position is clearly indicated.
  • FR-A-2 213 212 discloses an apparatus for limiting a range of swivelling motion in an industrial robot, having the features of the preamble of accompanying claim 1.
  • an apparatus for limiting a range of swivelling motion in an industrial robot having a first portion which is stationary in said motion and a second portion which performs said motion, comprising range limiting means including a stopper provided on said first portion, and engaging means provided on said second portion for engaging said stopper to prevent excessive swivelling motion of said second portion; characterised in that: said range limiting means comprises said stopper and an overtravel detection dog, and is detachably mounted to said first portion of the robot; said engaging means comprises a detector for detecting overtravel when it contacts said dog; and said first portion comprises indicating means, provided in an area of said first portion where said range limiting means can be mounted so as to indicate the position of the range limiting means.
  • the engaging means includes a limit switch acting as the detector, and a projection for striking the stopper.
  • the projection of the engaging means comprises a shock absorber consisting of rubber.
  • the engaging means provided on the moving portion of the robot contacts the dog on the stationary portion to detect overtravel, whereby a warning is issued to the effect that the stipulated range of rotation has been exceeded.
  • the shock absorber strikes the stopper to prevent excessive swiveling.
  • Fig. 2 illustrates an industrial robot.
  • Numeral 1 denotes a stationary side of a ⁇ axis of the industrial robot, which is fixed to a floor.
  • a movable side 2 of the ⁇ axis mounted on the upper portion of the stationary side.
  • a W axis 3 mounted on the movable side 2 of the ⁇ axis.
  • a U axis 4 capable of swinging back and forth within a predetermined range of rotation is provided on the distal end of the W axis 3.
  • a wrist 5 is provided on the distal end of the U axis 4.
  • a pedestal 12 having a plurality of bolt holes 11 for securing the pedestal is disposed on the lower portion of the stationary side 1.
  • the latter constitutes an annular cylinder the upper face of which has a mounting portion 13 forming a swiveling portion with the movable side 2.
  • the mounting portion 13 has indications 14 indicating the rotational angle of the ⁇ axis, and screw holes 15 for fixing range limiting members 6, described below.
  • Fig. 3 is a top view of the indicating section 7
  • Fig. 4(A) is a partially enlarged perspective view of the indicating section 7.
  • angles of rotation about the ⁇ axis are indicated every 15°
  • the screw holes 15 for fixing the range limiting members 6 are provided every 15° at positions corresponding to the angle indications.
  • Fig. 4(B) is a perspective view of one of the range limiting members 6, which is provided with an overtravel detection dog 61 and a stopper mechanism 62.
  • the range limiting member 6 can be attached to any position on the indicating portion 7 by screws 63 and can be moved by removing the screws.
  • Fig. 5 is a perspective view of a fixed member 8 provided on the movable side 2 of the ⁇ axis.
  • the fixed member 8 has a limit member 81 which detects overtravel when it contacts the dog 61, and a shock absorber 82 which prevents excessive swiveling when it strikes the stopper mechanism 62.
  • the shock absorber 82 consists of e.g. a cylindrical piece of hard rubber and is affixed to both sides of a fixed frame 83 so as to project therefrom.
  • the limit member 81 is constituted by e.g. a microswitch (a switch for detecting overtravel and referred to as an "OT" switch hereinafter) for sensing contact even with a small projection to open and close an electric circuit.
  • a microswitch a switch for detecting overtravel and referred to as an "OT" switch hereinafter
  • a portion 84 for detecting such contact is attached to the fixed frame 83 so as to detect the presence of the dog 61 on the indicating section 7.
  • the fixed frame 83 having the projecting shock absorbers 82 on both its sides is attached to the outer side of the swiveling portion of the movable side 2 and has enough strength to prevent excessive swiveling of the movable side 2 when one of the shock absorbers 82 strikes the stopper mechanism 62.
  • the motion range of the ⁇ axis is a rotational angle of e.g. 300°
  • the motion range limiting members 6 are attached to the indicating portion 7 in such a manner that the respective stoppers 62 will be situated at positions 30° to the left and right of 0°, as shown in Fig. 6.
  • the movable side 2 rotates counter-clockwise, i.e. the fixed member 8 provided on the movable side 2 travels in the direction of arrow A.
  • the detecting portion 84 of limit member 81 first detects the left end of dog 61 to actuate the OT switch, whereby control is performed to halt rotation of the movable side 2. Due to inertia and the like, the movable side 2 does not come to rest immediately but continues rotating through a predetermined angle and stops when the shock absorber 82 strikes the stopper mechanism 62. This prevents the movable side from traveling beyond the range of motion.
  • numeral 8′ denotes the position of the fixed member when the movable side 2 rotates clockwise so that the fixed member 8 approaches from the right side of Fig. 6. Excessive swiveling of the movable side 2 is prevented by abutting contact between the stopper mechanism 62 and shock absorber 82, just as set forth above.
  • the range of motion of the ⁇ axis is taken as being a rotational angle of 300°. Accordingly, the range limiting members 6 are attached at positions 30° to the left and right of 0°, as shown in Fig. 6. However, since the indications 14 and screw holes 15 are provided on the indicating section 7, it is possible to provide the range limiting members 6 at any desired positions.
  • range limiting members having a dog for limiting motion range and a mechanism for preventing excessive swiveling are provided on a rotating shaft support portion of the industrial robot. Also provided on the support portion is an indicating section which enables the limiting members to be mounted at desired positions which are clearly marked. If the range of motion is set in accordance with the indicating section the range of motion of the industrial robot can be limited easily and reliably without labor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Claims (5)

1. Vorrichtung in einem industriellen Roboter zur Begrenzung eines Bereichs der Schwenkbewegung des Roboters, der einen ersten Teil (1), welcher bei der genannten Bewegung feststehend ist, und einen zweiten Teil (2) hat, der die genannte Bewegung durchführt, mit einem Bereichsbegrenzungsmittel (6), das einen Anschlag (62), der auf dem ersten Teil (1) vorgesehen ist, und ein Eingreifmittel (8) enthält, das auf dem zweiten Teil (2) zum Ineingrifftreten mit dem Anschlag (62), um eine übermäßige Schwenkbewegung des zweiten Teils (2) zu verhindern, vorgesehen ist,
   dadurch gekennzeichnet, daß
   das Bereichsegrenzungsmittel (6) den Anschlag (62) und einen Überlauferfassungs-Anschlag (61) umfaßt und abnehmbar an dem ersten Teil (1) des Roboters angebracht ist,
   das Eingreifmittel (8) ein Erfassungsmittel (81) zum Erfassen eines Überlaufs, wenn es den Anschlag (61) berührt, umfaßt, und
   der erste Teil (1) ein Anzeigemittel (7) umfaßt, das in einem Bereich des ersten Teils (1) vorgesehen ist, in dem das Bereichsbegrenzungsmittel (6) montiert werden kann, um auf diese Weise die Position des Bereichsbegrenzungsmittels anzuzeigen.
2. Vorrichtung nach Anspruch 1, bei der das Eingreifmittel (8) einen Grenzschalter, der das Erfassungsmittel (81) darstellt, und ein vorstehendes Element (82) zum Anschlagen an dem Anschlag (62) umfaßt.
3. Vorrichtung nach Anspruch 2, bei der das vorstehende Element (82) aus einem aus Gummi hergestellten stoßdämpfenden Teil besteht.
4. Vorrichtung nach Anspruch 1, 2 oder 3, bei der dem Anzeigemittel (7) ein Satz von Montagemitteln (15) zum abnehmbaren Montieren des Bereichsbegrenzungsmittels zugeordnet ist.
5. Vorrichtung nach Anspruch 4, bei der das Anzeigemittel (7) als ein Satz von Winkelmarken (14) vorgesehen ist, wobei jede Marke einem betreffenden der Montagemittel (15) entspricht.
EP86904404A 1985-07-29 1986-07-25 Vorrichtung zur begrenzung des tätigkeitsbereichs eines industriellen roboters Expired - Lifetime EP0241556B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP60167029A JPS6228194A (ja) 1985-07-29 1985-07-29 工業用ロボツトの動作範囲規制装置
JP167029/85 1985-07-29

Publications (3)

Publication Number Publication Date
EP0241556A1 EP0241556A1 (de) 1987-10-21
EP0241556A4 EP0241556A4 (de) 1988-07-04
EP0241556B1 true EP0241556B1 (de) 1992-01-08

Family

ID=15842068

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86904404A Expired - Lifetime EP0241556B1 (de) 1985-07-29 1986-07-25 Vorrichtung zur begrenzung des tätigkeitsbereichs eines industriellen roboters

Country Status (6)

Country Link
US (1) US4828094A (de)
EP (1) EP0241556B1 (de)
JP (1) JPS6228194A (de)
KR (1) KR900002287B1 (de)
DE (1) DE3683371D1 (de)
WO (1) WO1987000790A1 (de)

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CN111821625A (zh) * 2020-07-30 2020-10-27 嘉兴学院 一种具有灭火机械臂可自由伸缩的巡检机器人

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Also Published As

Publication number Publication date
EP0241556A4 (de) 1988-07-04
WO1987000790A1 (en) 1987-02-12
EP0241556A1 (de) 1987-10-21
DE3683371D1 (de) 1992-02-20
US4828094A (en) 1989-05-09
JPS6228194A (ja) 1987-02-06
KR870700472A (ko) 1987-12-29
KR900002287B1 (ko) 1990-04-10

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